usdrt::PhysxSchemaPhysxVehicleMultiWheelDifferentialAPI

Defined in usdrt/scenegraph/usd/physxSchema/physxVehicleMultiWheelDifferentialAPI.h

class PhysxSchemaPhysxVehicleMultiWheelDifferentialAPI : public usdrt::UsdAPISchemaBase

Describes which wheels of a vehicle are driven as well as the distribution of the drive torque among those wheels. Has to be applied to a prim with PhysxVehicleAPI applied. Can only be used for vehicles that have a drive (see PhysxVehicleDriveBasicAPI or PhysxVehicleDriveStandardAPI).

Public Functions

inline explicit PhysxSchemaPhysxVehicleMultiWheelDifferentialAPI(const UsdPrim &prim = UsdPrim())

Construct a PhysxSchemaPhysxVehicleMultiWheelDifferentialAPI on UsdPrim prim. Equivalent to PhysxSchemaPhysxVehicleMultiWheelDifferentialAPI::Get(prim.GetStage(), prim.GetPath()) for a valid prim , but will not immediately throw an error for an invalid prim.

inline explicit PhysxSchemaPhysxVehicleMultiWheelDifferentialAPI(const UsdSchemaBase &schemaObj)

Construct a PhysxSchemaPhysxVehicleMultiWheelDifferentialAPI on the prim held by schemaObj . Should be preferred over PhysxSchemaPhysxVehicleMultiWheelDifferentialAPI(schemaObj.GetPrim()), as it preserves SchemaBase state.

inline virtual ~PhysxSchemaPhysxVehicleMultiWheelDifferentialAPI()

Destructor.

inline UsdAttribute GetWheelsAttr() const

List of indices, referencing the wheels that are driven (receiving torque from the engine). The indices refer to the attribute “index” of PhysxVehicleWheelAttachmentAPI.

Declaration	int[] physxVehicleMultiWheelDifferential:wheels
C++ Type	VtArray<int>
Usd Type	SdfValueTypeNames->IntArray

inline UsdAttribute CreateWheelsAttr() const

See GetWheelsAttr(), and also Create vs Get Property Methods for when to use Get vs Create. If specified, author defaultValue as the attribute’s default, sparsely (when it makes sense to do so) if writeSparsely is true - the default for writeSparsely is false.

inline UsdAttribute GetTorqueRatiosAttr() const

Defines how the drive torque should get distributed among the wheels specified in the “wheels” attribute. The provided ratios must be in range [-1, 1] and under normal circumstances the absolute values should sum up to 1. If the attribute is defined, then the length of the array needs to match the length of the “wheels” array. If the attribute is not defined, the torque will get split equally among all driven wheels.

Declaration	float[] physxVehicleMultiWheelDifferential:torqueRatios
C++ Type	VtArray<float>
Usd Type	SdfValueTypeNames->FloatArray

inline UsdAttribute CreateTorqueRatiosAttr() const

See GetTorqueRatiosAttr(), and also Create vs Get Property Methods for when to use Get vs Create. If specified, author defaultValue as the attribute’s default, sparsely (when it makes sense to do so) if writeSparsely is true - the default for writeSparsely is false.

inline UsdAttribute GetAverageWheelSpeedRatiosAttr() const

Defines how the speeds of the driven wheels get weighted when computing the average wheel speed at the clutch (for computing clutch slip). The provided ratios must be in range [0, 1] and under normal circumstances sum up to 1. If the attribute is defined, then the length of the array needs to match the length of the “wheels” array. If the attribute is not defined, the wheel speeds of all driven wheels will get weighted equally.

Note: if a vehicle is using a PhysxVehicleDriveBasicAPI drive, then this attribute should not be used.

Declaration	float[] physxVehicleMultiWheelDifferential:averageWheelSpeedRatios
C++ Type	VtArray<float>
Usd Type	SdfValueTypeNames->FloatArray

inline UsdAttribute CreateAverageWheelSpeedRatiosAttr() const

See GetAverageWheelSpeedRatiosAttr(), and also Create vs Get Property Methods for when to use Get vs Create. If specified, author defaultValue as the attribute’s default, sparsely (when it makes sense to do so) if writeSparsely is true - the default for writeSparsely is false.

UsdPrim GetPrim() const

Return this schema object’s held prim.

SdfPath GetPath() const

Return the SdfPath to this schema object’s held prim.

inline explicit operator bool() const

Check if this schema object is compatible with it’s held prim and that the prim is valid.

A typed schema object is compatible if the held prim’s type is or is a subtype of the schema’s type. Based on prim.IsA().

An API schema object is compatible if the API is of type SingleApplyAPI or UsdSchemaType::MultipleApplyAPI, and the schema has been applied to the prim. Based on prim.HasAPI.

This method invokes polymorphic behaviour.

See also

UsdSchemaBase::_IsCompatible()

Returns

True if the help prim is valid, and the schema object is compatible with its held prim.

Public Static Functions

static inline PhysxSchemaPhysxVehicleMultiWheelDifferentialAPI Apply(const UsdPrim &prim)

Applies this single-apply API schema to the given prim. This information is stored by adding “PhysxVehicleMultiWheelDifferentialAPI” to the token-valued, listOp metadata apiSchemas on the prim.

See also

UsdPrim::GetAppliedSchemas()

See also

UsdPrim::HasAPI()

See also

UsdPrim::ApplyAPI()

See also

UsdPrim::RemoveAPI()

Returns

A valid PhysxSchemaPhysxVehicleMultiWheelDifferentialAPI object is returned upon success. An invalid (or empty) PhysxSchemaPhysxVehicleMultiWheelDifferentialAPI object is returned upon failure. See UsdPrim::ApplyAPI() for conditions resulting in failure.

Public Static Attributes

static const UsdSchemaType schemaType = UsdSchemaType::SingleApplyAPI

Compile time constant representing what kind of schema this class is.

See also

UsdSchemaType

Protected Functions

inline const TfToken &_GetInstanceName() const

Returns the instance name of the API schema object belonging to a multiple-apply API schema.

The returned instance name will be empty for non-applied and single-apply API schemas.

inline virtual bool _IsCompatible() const

Check whether this APISchema object is valid for the currently held prim.

If this is an applied API schema, this returns true if the held prim is valid and already has the API schema applied to it, along with the instanceName (in the case of multiple-apply). The instanceName should not be empty in the case of a multiple-apply API schema.

This check is performed when clients invoke the explicit bool conversion operator, implemented in UsdSchemaBase.

See also

UsdPrim::HasAPI()

inline const TfToken _GetType() const

Helper for subclasses to get this schema’s type token.

Note

This diverges from Usd and returns a TfToken, since we don’t implements TfType.

Returns

The token representing the schema’s TfType.